CN115061134B - Unmanned aerial vehicle flight safety detection system and method based on airborne radar reconnaissance system - Google Patents
Unmanned aerial vehicle flight safety detection system and method based on airborne radar reconnaissance system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle flight safety detection system and method based on an airborne radar reconnaissance system, and belongs to the technical field of new generation information. The system comprises: the system comprises an airborne reconnaissance module, an anomaly analysis module, an unmanned aerial vehicle planning module, a data processing module and a data security detection module; the airborne reconnaissance module detects radar signals in each preset detection area by using a conformal antenna; the abnormality analysis module is used for confirming whether a detection area is newly added; the unmanned aerial vehicle planning module is used for planning the flight path of the unmanned aerial vehicle; the data processing module predicts the failure rate of the conformal antenna in the newly added detection area; the data safety detection module is used for sending out warning information and acquiring detected radar signals at the same time; the method can relieve the internal heat dissipation problem by using the conformal antenna, improves the concealment of the aircraft, predicts the failure rate of the conformal antenna, improves the flight safety, and reduces the loss of the unmanned aerial vehicle reconnaissance equipment.
Description
Technical Field
The invention relates to the technical field of new generation information, in particular to an unmanned aerial vehicle flight safety detection system and method based on an airborne radar reconnaissance system.
Background
When the conventional antenna adopted by the current airborne radar reconnaissance system is used, a plurality of problems often exist, when the antenna is installed outside a platform, the stealth performance of a reconnaissance machine can be influenced, and the reliability of the external antenna is difficult to ensure; when the antenna is installed inside the platform, heat dissipation inside the platform is difficult, and meanwhile, the antenna occupies the internal space to affect other configurations of the load.
The conformal antenna can keep consistent with the appearance of other floating platforms such as a reconnaissance aircraft, is similar to being attached to the outer surface of the platform, is integrated with the appearance of the platform, and can effectively reduce the radar reflection area of the weapon platform.
However, in the process of investigation, when the unmanned aerial vehicle with the onboard investigation equipment is in high-altitude flight investigation, the flight height of the unmanned aerial vehicle can be changed due to the continuous change of the investigation area, the pressure on the surface of the unmanned aerial vehicle body is different under different flight heights, different unmanned aerial vehicle shell deformation amounts can be generated in different flight times, and in daily life, the deformation amounts can not greatly influence the use of the unmanned aerial vehicle, but on the unmanned aerial vehicle with the conformal antenna, any small deformation amount can greatly influence the conformal antenna, so that the failure rate of the conformal antenna can be greatly increased, the damage of the investigation equipment is serious, and the problem that the practical existence and the control are difficult is solved.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle flight safety detection system and method based on an airborne radar reconnaissance system, so as to solve the problems in the background art.
In order to solve the technical problems, the invention provides the following technical scheme:
unmanned aerial vehicle flight safety detection method based on airborne radar reconnaissance system, the method comprises the following steps:
s1, constructing an airborne radar reconnaissance system on an unmanned aerial vehicle, detecting radar signals in each preset detection area by using a conformal antenna, and identifying and processing the received radar signals;
s2, acquiring the identified radar signals, analyzing whether abnormal signals appear, confirming whether a detection area is newly added, and planning a flight path of the unmanned aerial vehicle;
s3, acquiring an unmanned aerial vehicle flight path, calculating unmanned aerial vehicle flight time, acquiring unmanned aerial vehicle flight height data, predicting the failure rate of the conformal antenna in the newly added detection area, setting a failure rate threshold value, and sending out warning information if the failure rate exceeds the threshold value;
s4, acquiring detected radar signals, and transmitting related data of the radar to ground equipment for review by an administrator.
According to the technical scheme, the airborne radar reconnaissance system comprises a conformal antenna, a microwave assembly, a digital unit, a main control unit, a computer board, an airborne communication radio station and ground receiving equipment;
the conformal antenna is arranged on the unmanned aerial vehicle and is used for receiving radar signals and sending the radar signals into the microwave assembly; the microwave component is used for processing signals, and the signals are subjected to frequency conversion after amplitude limiting, filtering and amplifying at the front end of the receiver and are output to the digital unit for channelizing processing to output PDW; the digital unit is used for sending the PDW information to the main control unit; the main control unit is used for storing one path of data onto the computer board so as to facilitate the subsequent analysis of signals; the other path carries out PDW signal sorting and gives out a radiation source description word EDW of each radar signal; meanwhile, the main control unit stores the EDW obtained by sorting on a computer board; the other path is sent to ground receiving equipment through an airborne communication radio station for frequency spectrum, information list and working state display.
According to the above technical scheme, the planning of the unmanned aerial vehicle flight path includes:
s3-1, acquiring an identified radar signal, and analyzing whether an abnormal signal appears;
s3-2, acquiring target position data in a preset detection area, and recording the target position data of any target i-th reconnaissance as (x) i ，y i ) The target position data of the new scout is recorded as (x i+1 ，y i+1 )；
Constructing target similarity of two scouts:
wherein A is i+1 Similarity of target position data representing two scouts;
s3-3, obtaining N detection results under historical data, and generating a group of training sets: { (D) 1 ，L 1 )、(D 2 ，L 2 )、…、(D N ，L N ) }, wherein D 1 、D 2 、…、D N Normalized data representing the similarity of target position data of two adjacent scouts; l (L) 1 、L 2 、…、L N Representing a classification flag equal to +1 or-1, positive when it is equal to +1, negative when it is equal to-1; wherein N is a constant;
s3-4, replacing the N value, and continuously repeating the step S3-3 until an E group training set is generated, and constructing an abnormal signal analysis model according to the E group training set, wherein E is a settable constant;
s3-5, searching a separation hyperplane to obtain a classification plane of the abnormal signal;
setting the hyperplane is expressed as:
k 1 *x+b＝0
wherein k is 1 Representing a normal vector; b represents displacement;
set any data point of the training set of group E (D N ，L N ) Distance d to hyperplane:
setting a signal vector meeting a distance change threshold as a support vector, and setting the distance from the support vector to the hyperplane as d * Any anomaly signal reaches the hyperplane a distance less than d * The method comprises the following steps:
since the data is linear inseparable training data, a relaxation variable epsilon is constructed i ≥0；
For each relaxation variable ε i A cost is paid, expressed as:
wherein C is penalty parameter, C > 0;
introducing Lagrange multiplier and calculating k by utilizing Lagrange duality 1 B, optimal solution of b;
wherein beta is m 、β n Representing a lagrange multiplier vector; m and n represent serial numbers; l (L) m 、L n Representing classification marks under serial numbers m and n;
can get k 1 Optimal solution k of b 11 、b 11 Satisfy k 11 *D N +b 11 =0, noted as separation hyperplane;
because the data is linear inseparable training data, kernel functions are used for replacing inner products;
the classification decision function is obtained as follows:
wherein K (u, D N ) Representing a kernel function; u represents a feature vector;
analyzing the abnormal signals according to a classification decision function, wherein points far away from the separation hyperplane represent more accurate classification, namely the corresponding points are larger normalized values of the abnormal signals, the system sets a threshold value, and when the normalized values exceed the threshold value, the abnormal signals are defined as the current abnormal signals;
after the abnormal signal appears, confirm the newly added detection area:
acquiring the position information of an area which is not detected in a preset detection area for radar detection;
constructing an unmanned aerial vehicle flight path function:
wherein P (j) represents the flight path function of the unmanned aerial vehicle, j 1 、j 2 、…、j θ Representing the flight time of the unmanned aerial vehicle in each area after adding the newly added detection area according to j 1 、j 2 、…、j θ The flight time of each zone is based on the flight time of the zone;
representing the flying height variation of the unmanned aerial vehicle in the two areas after the newly added detection area is added; q 4 Representing a time coefficient; q 5 Representing the pressure change coefficient caused by the height change;
in the above scheme, firstly, the arrangement is freeThe sequence of the flight areas of the man-machine, then the flight time of the unmanned aerial vehicle in each area after the newly added detection area is calculated, and the method is carried out according to j 1 、j 2 、…、j θ The time of flight of each zone being based on the time of flight out of the zone, e.g. at j 1 The flying-out time of the area is 10 points, j 2 The zone departure time is 11 points, recorded at j 2 The flight time of the zone is 1 hour, which includes the time of flight of the sub-zone j 1 Region to j 2 The flight time of the area can further ensure the accuracy, and meanwhile, when the flight heights are changed, the bearing capacity of the unmanned aerial vehicle needs to be considered due to different pressure loads of different flight heights.
And (3) acquiring the minimum value of P (j) by using software simulation, and recording the current path region sequence as the flight path of the unmanned aerial vehicle.
According to the above technical solution, predicting the failure rate of the conformal antenna in the newly added detection area includes:
acquiring deformation probabilities of the unmanned aerial vehicle shell in the test data under different flight heights and different flight times;
when the flying heights are different, the heights are higher, the pressure born by the unmanned aerial vehicle is increased, and deformation is easy to generate; the height is low, deformation is easy to generate when the unmanned aerial vehicle contacts with air floaters such as leaves and dust particles, so that a parabolic function is arranged, the top point of the parabolic function is the most suitable flight height, and the deformation probability of the unmanned aerial vehicle shell is the lowest;
constructing a functional relation between the deformation probability of the unmanned aerial vehicle shell and different flying heights and flying times:
wherein T is s Representing deformation probability of unmanned aerial vehicle shell, T tt Representing the flight time k of the unmanned aerial vehicle at the flight height sequence number Z 3 、k 4 、k 5 The relation coefficient value representing the deformation probability of the unmanned aerial vehicle shell and different flying heights; k (k) 6 Representing unmanned aerial vehicle in flightThe relation coefficient value of the flight time of the height sequence number Z and the deformation probability of the unmanned aerial vehicle shell; z represents a flying height serial number, and each time the flying height changes from the beginning, a serial number is recorded; h represents the number of fly height changes;
set up unmanned aerial vehicle shell deformation probability to T s Recording the failure rate data set of the common antenna in the test data as M 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein M is 1 ＝{B 1 、B 2 、…、B ω -a }; wherein B is 1 、B 2 、…、B ω Take the value for the fault rate;
for M 1 Generating M by gray accumulation generation processing 2 ＝{B 11 、B 22 、…、B ωω }；
The method meets the following conditions:
for M 2 The data in the middle are processed by the immediate mean value to establish M 2 The whitening differential equation of (2) is:
wherein a is 0 To develop coefficient b 0 The ash action amount;
solving to obtain:
the deformation probability of the unmanned aerial vehicle shell is T s Predicted value of failure rate of conformal antenna:
wherein B is ω+1 Representing the failure rate of the conformal antenna in the currently planned unmanned aerial vehicle flight path;
wherein, the liquid crystal display device comprises a liquid crystal display device,
the method can be calculated according to the matrix and the least square method;
setting a fault rate threshold, and sending out warning information if the fault rate exceeds the fault rate threshold.
Unmanned aerial vehicle flight safety detecting system based on airborne radar reconnaissance system, this system includes: the system comprises an airborne reconnaissance module, an anomaly analysis module, an unmanned aerial vehicle planning module, a data processing module and a data security detection module;
the airborne reconnaissance module is used for constructing an airborne radar reconnaissance system on the unmanned aerial vehicle, detecting radar signals in each preset detection area by using the conformal antenna, and identifying and processing the received radar signals; the anomaly analysis module is used for analyzing whether an anomaly signal appears on the acquired identified radar signal and confirming whether a detection area is newly added; the unmanned aerial vehicle planning module is used for planning the flight path of the unmanned aerial vehicle when a newly added detection area appears; the data processing module is used for acquiring the flight path of the unmanned aerial vehicle, calculating the flight time of the unmanned aerial vehicle, acquiring the flight height of the unmanned aerial vehicle, calculating the deformation probability of the shell of the unmanned aerial vehicle, and predicting the failure rate of the conformal antenna in the newly added detection area; the data safety detection module is used for setting a fault rate threshold value, sending out warning information if the fault rate exceeds the threshold value, and simultaneously transmitting radar signals and flight data back to ground equipment for an administrator to review;
the output end of the airborne reconnaissance module is connected with the input end of the abnormality analysis module; the output end of the anomaly analysis module is connected with the input end of the unmanned plane planning module; the output end of the unmanned aerial vehicle planning module is connected with the input end of the data processing module, and the output end of the data processing module is connected with the input end of the data security detection module.
According to the technical scheme, the airborne reconnaissance module comprises an airborne radar reconnaissance system and a signal receiving sub-module;
the airborne radar reconnaissance system comprises a conformal antenna, a microwave assembly, a digital unit, a main control unit, a computer board, an airborne communication radio station and ground receiving equipment;
the conformal antenna is arranged on the unmanned aerial vehicle and is used for receiving radar signals and sending the radar signals into the microwave assembly; the microwave component is used for processing signals, and the signals are subjected to frequency conversion after amplitude limiting, filtering and amplifying at the front end of the receiver and are output to the digital unit for channelizing processing to output PDW; the digital unit is used for sending the PDW information to the main control unit; the main control unit is used for storing one path of data onto the computer board so as to facilitate the subsequent analysis of signals; the other path carries out PDW signal sorting and gives out a radiation source description word EDW of each radar signal; meanwhile, the main control unit stores the EDW obtained by sorting on a computer board; the other path is sent to ground receiving equipment through an airborne communication radio station to display frequency spectrum, an information list and working states;
the signal receiving sub-module is used for displaying and receiving a reconnaissance signal sent by the airborne radar reconnaissance system.
According to the technical scheme, the abnormality analysis module comprises a signal abnormality sub-module and a newly added task sub-module;
the signal abnormality submodule is used for analyzing whether an abnormal signal appears on the acquired identified radar signal; the newly added task submodule is used for newly adding a detection area when an abnormal signal appears;
the output end of the signal abnormality sub-module is connected with the input end of the newly added task sub-module; and the output end of the newly-added task sub-module is connected with the input end of the unmanned aerial vehicle planning module.
According to the technical scheme, the unmanned plane planning module comprises a route planning sub-module and a safety output sub-module;
the route planning submodule is used for planning the flight path of the unmanned aerial vehicle when a new detection area appears, and acquiring the flight path of the unmanned aerial vehicle; the safety output submodule is used for outputting the flight path of the unmanned aerial vehicle to an intelligent control port of the unmanned aerial vehicle;
the output end of the route planning submodule is connected with the input end of the safety output submodule; the output end of the safety output sub-module is connected with the input end of the data processing module.
According to the technical scheme, the data processing module comprises an unmanned aerial vehicle flight data acquisition sub-module and a prediction sub-module;
the unmanned aerial vehicle flight data acquisition sub-module is used for acquiring an unmanned aerial vehicle flight path, calculating unmanned aerial vehicle flight time and acquiring unmanned aerial vehicle flight height; the prediction submodule is used for constructing a prediction model and predicting the failure rate of the conformal antenna in the newly added detection area;
the output end of the unmanned aerial vehicle flight data acquisition sub-module is connected with the input end of the prediction sub-module; the output end of the prediction submodule is connected with the input end of the data safety detection module.
According to the technical scheme, the data security detection module comprises a security detection sub-module and a data display sub-module;
the safety detection submodule is used for setting a fault rate threshold value, and sending out warning information if the fault rate of the prediction conformal antenna in the newly added detection area exceeds the threshold value; the data display sub-module is used for transmitting radar signals and flight data back to ground equipment for the manager to review.
Compared with the prior art, the invention has the following beneficial effects:
the conformal antenna is adopted to replace the traditional antenna, so that the problem of crowding of equipment to the load inner space is greatly solved, the weight of the equipment is reduced, the heat dissipation problem in the equipment and the inside is solved, and meanwhile, compared with the traditional antenna, the conformal antenna is adopted to improve the concealment of the aircraft. The aircraft is utilized to perform radar reconnaissance, so that a fire control radar of a target can be timely reconnaissance, the aircraft is alarmed in advance, and the loss of reconnaissance equipment on the my side can be reduced;
according to the invention, under the condition that a new investigation task appears in the unmanned aerial vehicle investigation process, the probability of deformation of the unmanned aerial vehicle shell is calculated, the failure rate of the conformal antenna is predicted, a threshold value is set, an alarm is sent, the flight safety of the unmanned aerial vehicle in investigation can be further ensured, and the loss of investigation equipment is reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
In the drawings:
fig. 1 is a block diagram of an airborne radar reconnaissance system of the present invention based on an unmanned aerial vehicle flight safety detection system and method.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, in the present embodiment: using a conformal antenna to complete the detection of the 12-18Ghz radar antenna; and recognizes and processes the received radar signal and transmits radar-related data back to the ground equipment. And judging whether an abnormal signal occurs.
As shown in fig. 1;
in an airborne radar reconnaissance system, a conformal antenna transmits a received 12-18GHz radar signal to a microwave component, and after the signal is limited, filtered and amplified by the front end of a receiver, the signal is subjected to down-conversion to output an intermediate frequency of 1.3-2.3Ghz, and the intermediate frequency is transmitted to a K7 board (digital unit) to be subjected to channelized processing to output PDW;
the digital unit sends PDW information such as frequency points, pulse width, amplitude and the like of the frequency signals to the main control unit, and the main control unit stores one path of data on the computer board so as to facilitate the subsequent analysis of the signals; and the other path carries out PDW signal sorting to give a radiation source description word EDW of each radar signal.
The main control unit stores the EDW obtained by sorting on a computer board so as to analyze the signals later; the other path is sent to ground receiving equipment through a flight control link to display frequency spectrum, information list and working state;
the system also comprises ground equipment, and the ground equipment is used for ground function test of the airborne reconnaissance equipment. The signal source is connected to the antenna through the radio frequency cable, the antenna aims at the airborne radar reconnaissance system to radiate signals, and the airborne radar reconnaissance system judges whether the function of the airborne reconnaissance equipment is normal or not through comparing the parameters of the reconnaissance radiation source with the parameters of the signal source.
Conformal antenna design scheme:
the conformal antenna adopts a conformal microstrip antenna array, and the microstrip antenna unit patch is attached to the surface of the reconnaissance plane according to a 2 x 2 four-unit microstrip antenna array.
Conformal antenna array design:
the antenna unit selects a rectangular radiation patch as the radiation unit, microstrip transmission line feed is adopted, good impedance matching is realized by changing the width and the feed position of a feeder line, and the impedance bandwidth and the gain of the microstrip antenna unit are improved by adopting a stacked structure loaded by a parasitic patch.
Microstrip antenna array:
the antenna array adopts a 2 multiplied by 2 four-unit microstrip antenna array, the problem of insufficient gain of a single microstrip antenna unit is solved by increasing the number of antenna units, and the feeding mode adopts a layered power division network structure for feeding, thereby being beneficial to reducing parasitic radiation generated by microstrip feeder lines.
And (3) designing a microwave assembly:
the microwave component performs amplitude limiting, filtering, amplifying treatment and switching on the input 12-18GHz radio frequency signal, and then performs power division into two paths, wherein one path of the power division is used for transmitting single bits for parameter measurement, and the other path of the power division is used for performing down-conversion to output 1.3-2.3GHz intermediate frequency signals.
Digital unit design:
the digital unit is based on the K7 digital processing board designed by two programmable XilinxC 7K325T-2FFG900IFPGA to realize the functions; the digital unit is provided with an ADC12D1600 type ADC chip; a piece of 4M multiplied by 36bit QDRII+SRAM and a piece of 1Gbit QSPLASH are hung on the FPGA, the highest interleaving sampling rate of ADC sampling can reach 2.8Gsps or 1.6Gsps of double-channel sampling rate, and the sampling precision is 12 bits.
The main control unit is designed:
in the main control unit, a PDW resolving part measures radar pulse parameters through video signals and TTL signals to form a PDW stream; the PDW sorting and identifying part realizes the parameter filtering of the radar pulse description word to realize signal sorting; the parameter resolving part is used for realizing message resolution and parameter calculation of the target analog signal; the AXI register group part realizes the parameter configuration of the parameter calculation part by the ARM controller through an AXI bus; the FIFO buffer part realizes the buffer memory of data and provides buffer memory area for DMA transmission; the DMA transmission part realizes the high-speed transmission of the data inside; the ARM controller part realizes the functions of data storage, message data analysis, interface communication and the like.
According to the above technical scheme, planning the unmanned aerial vehicle flight path includes:
s3-1, acquiring an identified radar signal, and analyzing whether an abnormal signal appears;
s3-2, acquiring target position data in a preset detection area, and recording the target position data of any target i-th reconnaissance as (x) i ，y i ) The target position data of the new scout is recorded as (x i+1 ，y i+1 )；
Constructing target similarity of two scouts:
wherein A is i+1 Similarity of target position data representing two scouts;
s3-3, obtaining N detection results under historical data, and generating a group of training sets: { (D) 1 ，L 1 )、(D 2 ，L 2 )、…、(D N ，L N ) }, wherein D 1 、D 2 、…、D N Normalized data representing the similarity of target position data of two adjacent scouts; l (L) 1 、L 2 、…、L N Representative class markIt is equal to +1 or-1, positive when it is equal to +1, negative when it is equal to-1; wherein N is a constant;
s3-4, replacing the N value, and continuously repeating the step S3-3 until an E group training set is generated, and constructing an abnormal signal analysis model according to the E group training set, wherein E is a settable constant;
s3-5, searching a separation hyperplane to obtain a classification plane of the abnormal signal;
setting the hyperplane is expressed as:
k 1 *x+b＝0
wherein k is 1 Representing a normal vector; b represents displacement;
set any data point of the training set of group E (D N ，L N ) Distance d to hyperplane:
setting a signal vector meeting a distance change threshold as a support vector, and setting the distance from the support vector to the hyperplane as d * Any anomaly signal reaches the hyperplane a distance less than d * The method comprises the following steps:
since the data is linear inseparable training data, a relaxation variable epsilon is constructed i ≥0；
For each relaxation variable ε i A cost is paid, expressed as:
wherein C is penalty parameter, C > 0;
introducing Lagrange multiplier and calculating k by utilizing Lagrange duality 1 B, optimal solution of b;
wherein beta is m 、β n Representing a lagrange multiplier vector; m and n represent serial numbers; l (L) m 、L n Representing classification marks under serial numbers m and n;
can get k 1 Optimal solution k of b 11 、b 11 Satisfy k 11 *D N +b 11 =0, noted as separation hyperplane;
because the data is linear inseparable training data, kernel functions are used for replacing inner products;
the classification decision function is obtained as follows:
wherein K (u, D N ) Representing a kernel function; u represents a feature vector;
analyzing the abnormal signals according to the classification decision function, and finding that the normalized value of the abnormal signals with points far from the separation hyperplane exceeds a threshold value, and defining the abnormal signals as the current abnormal signals;
after the abnormal signal appears, confirm the newly added detection area:
acquiring the position information of an area which is not detected in a preset detection area for radar detection;
constructing an unmanned aerial vehicle flight path function:
wherein P (j) represents the flight path function of the unmanned aerial vehicle, j 1 、j 2 、…、j θ Representing the flight time of the unmanned aerial vehicle in each area after adding the newly added detection area according to j 1 、j 2 、…、j θ The flight time of each zone is based on the flight time of the zone;
representing the flying height variation of the unmanned aerial vehicle in the two areas after the newly added detection area is added; q 4 Representing a time coefficient; q 5 Representing the pressure change coefficient caused by the height change;
and (3) acquiring the minimum value of P (j) by using software simulation, and recording the current path region sequence as the flight path of the unmanned aerial vehicle.
Acquiring deformation probabilities of the unmanned aerial vehicle shell in the test data under different flight heights and different flight times;
constructing a functional relation between the deformation probability of the unmanned aerial vehicle shell and different flying heights and flying times:
wherein T is s Representing deformation probability of unmanned aerial vehicle shell, T tt Representing the flight time k of the unmanned aerial vehicle at the flight height sequence number Z 3 、k 4 、k 5 The relation coefficient value representing the deformation probability of the unmanned aerial vehicle shell and different flying heights; k (k) 6 The relation coefficient value representing the flying time of the unmanned aerial vehicle at the flying height sequence number Z and the deformation probability of the unmanned aerial vehicle shell; z represents a flying height serial number, and each time the flying height changes from the beginning, a serial number is recorded; h represents the number of fly height changes;
set up unmanned aerial vehicle shell deformation probability to T s Recording the failure rate data set of the common antenna in the test data as M 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein M is 1 ＝{B 1 、B 2 、…、B ω -a }; wherein B is 1 、B 2 、…、B ω Take the value for the fault rate;
for M 1 Generating M by gray accumulation generation processing 2 ＝{B 11 、B 22 、…、B ωω }；
The method meets the following conditions:
for M 2 The data in the middle are processed by the immediate mean value to establish M 2 The whitening differential equation of (2) is:
wherein a is 0 To develop coefficient b 0 The ash action amount;
solving to obtain:
the deformation probability of the unmanned aerial vehicle shell is T s Predicted value of failure rate of conformal antenna:
wherein B is ω+1 Representing the failure rate of the conformal antenna in the currently planned unmanned aerial vehicle flight path;
wherein, the liquid crystal display device comprises a liquid crystal display device,
the method can be calculated according to the matrix and the least square method;
setting a fault rate threshold, wherein the fault rate exceeds the fault rate threshold, and sending out warning information.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The unmanned aerial vehicle flight safety detection method based on the airborne radar reconnaissance system is characterized by comprising the following steps of: the method comprises the following steps:
s1, constructing an airborne radar reconnaissance system on an unmanned aerial vehicle, detecting radar signals in each preset detection area by using a conformal antenna, and identifying and processing the received radar signals;
s2, acquiring the identified radar signals, analyzing whether abnormal signals appear, confirming whether a detection area is newly added, and planning a flight path of the unmanned aerial vehicle;
s3, acquiring an unmanned aerial vehicle flight path, calculating unmanned aerial vehicle flight time, acquiring unmanned aerial vehicle flight height data, predicting the failure rate of the conformal antenna in the newly added detection area, setting a failure rate threshold value, and sending out warning information if the failure rate exceeds the threshold value;
s4, acquiring detected radar signals, and transmitting related data of the radar to ground equipment for an administrator to review;
predicting the failure rate of the conformal antenna in the newly added detection area comprises:
acquiring deformation probabilities of the unmanned aerial vehicle shell in the test data under different flight heights and different flight times;
constructing a functional relation between the deformation probability of the unmanned aerial vehicle shell and different flying heights and flying times:
wherein T is s Representing deformation probability of unmanned aerial vehicle shell, T tt Representing the flight time k of the unmanned aerial vehicle at the flight height sequence number Z 3 、k 4 、k 5 The relation coefficient value representing the deformation probability of the unmanned aerial vehicle shell and different flying heights; k (k) 6 The relation coefficient value representing the flying time of the unmanned aerial vehicle at the flying height sequence number Z and the deformation probability of the unmanned aerial vehicle shell; z represents a flying height serial number, and each time the flying height changes from the beginning, a serial number is recorded; h represents the number of fly height changes;
setting a function:
F(Z)＝k 3 *Z 2 +k 4 *Z+k 5
wherein F (Z) represents the functional relation between the deformation probability of the unmanned aerial vehicle shell and different flying heights;
obtaining observed values of F (Z) in test data:
{F(Z 1 )、F(Z 2 )、…、F(Z L )}
wherein L represents the number of observation values, and L is an odd number;
from the observed value of F (Z), k is estimated by three-point method 3 、k 4 、k 5 Is a value of (2);
set up unmanned aerial vehicle shell deformation probability to T s Recording the failure rate data set of the common antenna in the test data as M 1 The method comprises the steps of carrying out a first treatment on the surface of the Wherein M is 1 ＝{B 1 、B 2 、…、B ω -a }; wherein B is 1 、B 2 、…、B ω Take the value for the fault rate;
for M 1 Generating M by gray accumulation generation processing 2 ＝{B 11 、B 22 、…、B ωω }；
The method meets the following conditions:
for M 2 The data in the middle are processed by the immediate mean value to establish M 2 The whitening differential equation of (2) is:
wherein a is 0 To develop coefficient b 0 The ash action amount;
solving to obtain:
the deformation probability of the unmanned aerial vehicle shell is T s Predicted value of failure rate of conformal antenna:
wherein B is ω+1 Representing the failure rate of the conformal antenna in the currently planned unmanned aerial vehicle flight path;
setting a fault rate threshold, and sending out warning information if the fault rate exceeds the fault rate threshold.
2. The unmanned aerial vehicle flight safety detection method based on the airborne radar reconnaissance system according to claim 1, wherein: the airborne radar reconnaissance system comprises a conformal antenna, a microwave assembly, a digital unit, a main control unit, a computer board, an airborne communication radio station and ground receiving equipment;
the conformal antenna is arranged on the unmanned aerial vehicle and is used for receiving radar signals and sending the radar signals into the microwave assembly; the microwave component is used for processing signals, and the signals are subjected to frequency conversion after amplitude limiting, filtering and amplifying at the front end of the receiver and are output to the digital unit for channelizing processing to output PDW; the digital unit is used for sending the PDW information to the main control unit; the main control unit is used for storing one path of data onto the computer board so as to facilitate the subsequent analysis of signals; the other path carries out PDW signal sorting and gives out a radiation source description word EDW of each radar signal; meanwhile, the main control unit stores the EDW obtained by sorting on a computer board; the other path is sent to ground receiving equipment through an airborne communication radio station for frequency spectrum, information list and working state display.
3. The unmanned aerial vehicle flight safety detection method based on the airborne radar reconnaissance system according to claim 1, wherein: the planned unmanned aerial vehicle flight path includes:
s3-1, acquiring an identified radar signal, and analyzing whether an abnormal signal appears;
s3-2, acquiring target position data in a preset detection area, and recording the target position data of any target i-th reconnaissance as (x) i ，y i ) The target position data of the new scout is recorded as (x i+1 ，y i+1 )；
Constructing target similarity of two scouts:
wherein A is i+1 Similarity of target position data representing two scouts;
s3-3, obtaining N detection results under historical data, and generating a group of training sets: { (D) 1 ，L 1 )、(D 2 ，L 2 )、…、(D N ，L N ) }, wherein D 1 、D 2 、…、D N Normalized data representing the similarity of target position data of two adjacent scouts; l (L) 1 、L 2 、…、L N Representing a classification flag, which is equal to +1 or-1, positive when it is equal to +1, negative when it is equal to-1: wherein N is a constant;
s3-4, replacing the N value, and continuously repeating the step S3-3 until an E group training set is generated, and constructing an abnormal signal analysis model according to the E group training set, wherein E is a settable constant;
s3-5, searching a separation hyperplane to obtain a classification plane of the abnormal signal;
setting the hyperplane is expressed as:
k 1 *x+b＝0
wherein k is 1 Representing a normal vector; b represents displacement;
set any data point of the training set of group E (D N ，L N ) Distance d to hyperplane:
setting a signal vector meeting a distance change threshold as a support vector, and setting the distance from the support vector to the hyperplane as d * Any anomaly signal reaches the hyperplane a distance less than d * The method comprises the following steps:
since the data is linear inseparable training data, a relaxation variable epsilon is constructed i ≥0；
For each relaxation variable ε i A cost is paid, expressed as:
wherein C is penalty parameter, C > 0;
introducing Lagrange multiplier and calculating k by utilizing Lagrange duality 1 B, optimal solution of b;
wherein beta is m 、β n Representing a lagrange multiplier vector; m and n represent serial numbers; l (L) m 、L n Representing classification marks under serial numbers m and n;
can get k 1 Optimal solution k of b 11 、b 11 Satisfy k 11 *D N +b 11 =0, noted as separation hyperplane;
because the data is linear inseparable training data, kernel functions are used for replacing inner products;
the classification decision function is obtained as follows:
wherein K (u, D N ) Representing a kernel function; u represents a feature vector;
analyzing the abnormal signals according to a classification decision function, wherein points far away from the separation hyperplane represent more accurate classification, namely the corresponding points are larger normalized values of the abnormal signals, the system sets a threshold value, and when the normalized values exceed the threshold value, the abnormal signals are defined as the current abnormal signals;
after the abnormal signal appears, confirm the newly added detection area:
acquiring the position information of an area which is not detected in a preset detection area for radar detection;
constructing an unmanned aerial vehicle flight path function:
wherein P (j) represents the flight path function of the unmanned aerial vehicle, j 1 、j 2 、…、j θ Representing the flight time of the unmanned aerial vehicle in each area after adding the newly added detection area according to j 1 、j 2 、…、j θ The flight time of each zone is based on the flight time of the zone;
representing unmanned aerial vehicle after adding newly added detection areaThe amount of change in flying height in the two regions; q 4 Representing a time coefficient; q 5 Representing the pressure change coefficient caused by the height change;
and (3) acquiring the minimum value of P (j) by using software simulation, and recording the current path region sequence as the flight path of the unmanned aerial vehicle.
4. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system, which is applied to the unmanned aerial vehicle flight safety detection method based on the airborne radar reconnaissance system, according to claim 1, is characterized in that: the system comprises: the system comprises an airborne reconnaissance module, an anomaly analysis module, an unmanned aerial vehicle planning module, a data processing module and a data security detection module;
the airborne reconnaissance module is used for constructing an airborne radar reconnaissance system on the unmanned aerial vehicle, detecting radar signals in each preset detection area by using the conformal antenna, and identifying and processing the received radar signals; the anomaly analysis module is used for analyzing whether an anomaly signal appears on the acquired identified radar signal and confirming whether a detection area is newly added; the unmanned aerial vehicle planning module is used for planning the flight path of the unmanned aerial vehicle when a newly added detection area appears; the data processing module is used for acquiring the flight path of the unmanned aerial vehicle, calculating the flight time of the unmanned aerial vehicle, acquiring the flight height of the unmanned aerial vehicle, calculating the deformation probability of the shell of the unmanned aerial vehicle, and predicting the failure rate of the conformal antenna in the newly added detection area; the data safety detection module is used for setting a fault rate threshold value, sending out warning information if the fault rate exceeds the threshold value, and simultaneously transmitting radar signals and flight data back to ground equipment for an administrator to review;
the output end of the airborne reconnaissance module is connected with the input end of the abnormality analysis module; the output end of the anomaly analysis module is connected with the input end of the unmanned plane planning module; the output end of the unmanned aerial vehicle planning module is connected with the input end of the data processing module, and the output end of the data processing module is connected with the input end of the data security detection module.
5. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system according to claim 4, wherein: the airborne reconnaissance module comprises an airborne radar reconnaissance system and a signal receiving sub-module;
the airborne radar reconnaissance system comprises a conformal antenna, a microwave assembly, a digital unit, a main control unit, a computer board, an airborne communication radio station and ground receiving equipment; the conformal antenna is arranged on the unmanned aerial vehicle and is used for receiving radar signals and sending the radar signals into the microwave assembly;
the microwave component is used for processing signals, and the signals are subjected to frequency conversion after amplitude limiting, filtering and amplifying at the front end of the receiver and are output to the digital unit for channelizing processing to output PDW; the digital unit is used for sending the PDW information to the main control unit; the main control unit is used for storing one path of data onto the computer board so as to facilitate the subsequent analysis of signals; the other path carries out PDW signal sorting and gives out a radiation source description word EDW of each radar signal; meanwhile, the main control unit stores the EDW obtained by sorting on a computer board; the other path is sent to ground receiving equipment through an airborne communication radio station to display frequency spectrum, an information list and working states;
the signal receiving sub-module is used for displaying and receiving a reconnaissance signal sent by the airborne radar reconnaissance system.
6. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system according to claim 4, wherein: the abnormality analysis module comprises a signal abnormality sub-module and a newly added task sub-module;
the signal abnormality submodule is used for analyzing whether an abnormal signal appears on the acquired identified radar signal; the newly added task submodule is used for newly adding a detection area when an abnormal signal appears;
the output end of the signal abnormality sub-module is connected with the input end of the newly added task sub-module; and the output end of the newly-added task sub-module is connected with the input end of the unmanned aerial vehicle planning module.
7. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system according to claim 4, wherein: the unmanned aerial vehicle planning module comprises a route planning sub-module and a safety output sub-module;
the route planning submodule is used for planning the flight path of the unmanned aerial vehicle when a new detection area appears, and acquiring the flight path of the unmanned aerial vehicle; the safety output submodule is used for outputting the flight path of the unmanned aerial vehicle to an intelligent control port of the unmanned aerial vehicle;
the output end of the route planning submodule is connected with the input end of the safety output submodule; the output end of the safety output sub-module is connected with the input end of the data processing module.
8. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system according to claim 4, wherein: the data processing module comprises an unmanned aerial vehicle flight data acquisition sub-module and a prediction sub-module;
the unmanned aerial vehicle flight data acquisition sub-module is used for acquiring an unmanned aerial vehicle flight path, calculating unmanned aerial vehicle flight time and acquiring unmanned aerial vehicle flight height; the prediction submodule is used for constructing a prediction model and predicting the failure rate of the conformal antenna in the newly added detection area;
the output end of the unmanned aerial vehicle flight data acquisition sub-module is connected with the input end of the prediction sub-module; the output end of the prediction submodule is connected with the input end of the data safety detection module.
9. The unmanned aerial vehicle flight safety detection system based on the airborne radar reconnaissance system according to claim 8, wherein: the data security detection module comprises a security detection sub-module and a data display sub-module;
the safety detection submodule is used for setting a fault rate threshold value, and sending out warning information if the fault rate of the prediction conformal antenna in the newly added detection area exceeds the threshold value; the data display sub-module is used for transmitting radar signals and flight data back to ground equipment for an administrator to review;
and the output ends of the safety detection sub-module and the data display sub-module are connected with a ground manager port.
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